Apparatus for automatically inserting leads on electrical and/or electronic components into corresponding holes in a substrate

ABSTRACT

The apparatus comprises two carriages 4, 5, movable in opposite directions F1, F2, and operable in an operating station S below a substrate 100. The carriages comprise corresponding bushes 23, 24, movable perpendicularly relative to the substrate 100, and within which slide needles 47, 48. Bushes 23, 24 are positioned in contact with the printed circuit, and co-axially with respect to two holes 100a chosen in the latter to allow the needles to pass through the aforesaid holes. Above substrate 100, device 150 centers the needles relative to the projecting leads 10, on component 11, which are held between clamping mechanism 2 stationary in station S. After they have been centered, the needles are raised to meet the ends of the leads 10a triggering off a device 200 which moves component 11 down towards substrate 100 at the same time as the needles move back down again, until leads 10 are inserted into holes 100a and bushes 23, 24 which then bend those sections of leads 10 which are protruding from circuit 100 (10c) back against the underside of the circuit.

TECHNICAL FIELD

This invention is concerned with the automatic assembly of electricaland/or electronic components on a corresponding substrate e.g. a printedcircuit, especially the final stage of assembly, namely inserting theleads on the components into corresponding through holes in thesubstrate.

To this end it is necessary beforehand to bend the above-mentioned leadsin the same direction with respect to the body of the component, withthese leads parallel and a pre-arranged distance (pitch) apart; thisfunction is carried out by appropriate bending devices associated withthe present apparatus. Finally it is necessary, by means ofcorresponding devices, to cut off the leads so that they are of such alength, with respect to the body of the component (in the case of leadswhich are perpendicular to the axis of the body of the component) orwith respect to one head of the above-mentioned body (in the case ofleads which are parallel to the axis of the body), as to enable theseleads, when inserted into the holes in the substrate, to protrude by apre-arranged amount beyond the latter. When the above-mentionedoperation to cut off the leads has been completed, appropriate clampingdevices move the components intermittently into an operating station inwhich the substrate is positioned.

BACKGROUND ART

Existing types of apparatus for inserting the leads of components intothe holes in a printed circuit are complicated, cumbersome and not veryfunctional. One type of apparatus has pincers which grip the body of thecomponent and, with the help of guides, previously positioned around thechosen holes, perform the above-mentioned inserting operation.

Another type of apparatus has two pincers which grip two leads on thecomponent, the aforesaid pincers centre the leads with respect to thechosen holes and then insert the leads gripped between them into theseholes.

It is obvious how complex and bulky such a piece of apparatus is, andits bulkiness represents a considerable drawback when one considers thefact that it is necessary to work in a restricted space not much biggerthan the space allocated for the corresponding component. Also this typeof apparatus cannot provide information as to whether or not theabove-mentioned inserting operation has been carried out satisfactorily;and, if not, it will be the job of the operators to then take steps toremove scraps of waste material from the printed circuit.

An object of this invention is to provide a piece of apparatus whichenables the leads on electrical and/or electronic components to beinserted into the corresponding through holes in a printed circuit, andwhich, after the aforesaid inserting operation has been carried out,enables the aforesaid leads to be clamped to the circuit itself. Inpreferred apparatus it is established that the holes in the substratesare in fact there, and checked that all the leads have been insertedinto the relevant holes.

Another object of the invention is to provide apparatus, which iscapable of inserting leads in the holes of a printed circuit regardlessof the pitch between the above-mentioned leads.

DISCLOSURE OF THE INVENTION

In one aspect the invention may provide apparatus for automaticallyinserting leads on electrical and/or electronic components through holesin a substrate comprising an operating station S at which a substratecan be positioned and at which, one side of the substrate can bedisposed clamping mechanism, carried by an intermittently movingconveyor, for clamping the leads on one of the components with theaforesaid leads protruding parallel to each other by predeterminedamounts from the clamping mechanism by which they are held perpendicularrelative to the above-mentioned substrate characterised in that theapparatus further comprises: two carriages located at the station S atthe opposite side of the aforesaid substrate to the above-mentionedclamping mechanism, mounted for movement in opposite directions parallelto the substrate, two bushes mounted on the carriages, for slidingmovement with respect to the relevant carriages towards and away fromthe substrate; first means so moving the bushes; Two needles mounted onthe carriages, slide freely through and guided by a corresponding one ofthe two above-mentioned bushes for movement in a direction perpendicularto the substrate; second means for so moving the needles a first devicepositioned at the station S on the same side of the substrate as theclamping mechanism and acting in phase with said second means forcentering the needles when protruding beyond the printed circuit, withrespect to the leads held by the clamping mechanism at the station withthe needles themselves being slideable perpendicular to the substrate; asecond device, positioned on the same side of the substrate as thefirst, acting in phase with the first device, with said second means andwith said first means for translating the above-mentioned carriages,this second device being arranged in the operation of the apparatus toengage at least the body of the component which has its leads held bythe clamping mechanism with ends in contact with corresponding ends ofthe needles and then after the first device has disengaged from theneedles and the clamping mechanism disengaged from the leads to move thecomponent towards the substrate, the needles at the same time beingwithdrawn from the relevant holes in the printed circuit, whereby theleads are inserted in the holes and shortly afterwards in the bushesand, after the leads have been inserted into the bushes and the body ofthe component moved to a predetermined position relative to thesubstrate, the carriages being arranged to be moved in oppositedirections, so that the parts of the leads which are projecting beyondthe substrate are bent, by the above mentioned bushes, against theunderside of the substrate.

Preferred apparatus embodying the invention enables the above-mentionedinserting operation to be carried out without interferring withcomponents already clamped to the printed circuit.

Preferred apparatus embodying this invention can draw attention toabnormal situations such as will prevent the above-mentioned insertingoperation taking place, and also to abnormal situations resulting fromincomplete or unsatisfactory inserting operations and which,consequently, is capable of moving the corresponding component towards astation where it can be removed.

Preferred apparatus embodying this invention is extremely functional andcapable of showing a high operating speed with a beneficial effect onthe productivity of the apparatus itself and on that of the associatedlead bending and lead cutting devices.

In preferred apparatus it is established that the holes in thesubstrates are in fact there, and checked that all the leads have beeninserted into the relevant holes.

There now follows a detailed description, to be read with reference tothe accompanying drawings, of apparatus embodying the invention. It willbe realised that this apparatus has been selected for description toillustrate the invention by way of example and that the invention mayreside in any novel feature or combination of features described.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 illustrates a side diagrammatic view, partially sectioned inaccordance with different planes, of the present apparatus in itsoperating phase;

FIG. 2 illustrates a diagrammatic view of section I--I of FIG. 1;

FIG. 3 illustrates a diagrammatic view of section II--II of FIG. 1;

FIG. 4 illustrates a diagrammatic view of section III--III of FIG. 1;

FIG. 5a illustrates in diagrammatic form and on an enlarged scale, headsof centering prongs;

FIG. 5b illustrates a side view of teeth of the heads;

FIG. 5c illustrates a view of a portion of the teeth in perspective;

FIGS. 6a, 6b illustrate respectively, in diagrammatic form, thesituation where a search by needles to find chosen holes in a printedcircuit has been successful, and one where it has been unsuccessful, andthe corresponding position of catch projections, associated with theneedles, with respect to the relevant sensors;

FIGS. 7a, 7b, 7c, 7d, 7e, 7f, 7g illustrate in diagrammatic formprogressive stages in the insertion of leads into the correspondingholes chosen in the printed circuit.

BEST MODE FOR CARRYING OUT THE INVENTION

FIG. 1 indicates a conveyor, of the carousel type, moveableintermittently in direction M and fitted with clamping mechanism 2,comprising a clamping pincer 3 which grips the leads 10 of electricaland/or electronic components 11 between prongs 3a, 3b.

The function of each pincer 3 is to grip a component 11, by the relevantleads, in a feeding station, (not illustrated), to transfer this samecomponent to a cutting station (not illustrated), in which the leads arecut so as to determine for them a pre-arranged length depending on thethickness of a corresponding substrate viz. a printed circuit 100, andfinally to transfer the above-mentioned component to an operatingstation S in which this same pincer 3 is kept stationary forpre-arranged length of time.

The above-mentioned printed circuit 100, carried by appropriate feedmechanisms (not illustrated) is positioned in station S and `divides`this station into two areas A (where pincer 3 is held stationary) and Bpositioned on opposite sides of circuit 100.

In area B there are two carriages 4, 5 supported for sliding movement byrods 6 parallel with printed circuit 100.

Two carriages 4, 5 are clamped two threaded sleeves 7, which haverespectively right handed and lefted threads, with which are engagedcorresponding threaded portions of a drive shaft 8 which is rotatablevia a bevel gear 9, by the shaft of an electric motor 12 supported by afixed supporting structure 13; rotating the shaft in one or the otherdirection causes carriages 4, 5 respectively to move closer to eachother (directions F1, F2) or move away from each other (directions F2,F1).

Carriages 4, 5 support corresponding rods 14, 15 which are parallel witheach other and perpendicular to circuit 100; both the above-mentionedrods can slide axially.

At the top of rods 14, 15 are corresponding bushes 23, 24, the axes ofwhich are parallel with the relevant rods; the distance between the axesof the two bushes is less than the distance between the twoabove-mentioned rods.

Clamped to rods 14, 15 around the lower portions thereof, arecorresponding sleeves 16 each of which supports a small roller 19 forrotation. The sleeves 16 are subject to the action of correspondingsprings 17 placed between the sleeves themselves and stops 18 integralwith the relevant carriages 4, 5 (FIGS. 1 and 2).

In the absence of external forces acting on small rollers 19, springs 17keep the corresponding bushes 23, 24 pressed against the lower side ofprinted circuit 100.

Small rollers 19 are housed in two housings 20 incorporated in a slide21 which is guided, in directions H1, H2 perpendicular to circuit 100,by a number of small wheels 22 which are supported for rotation by thestructure 13; in order to prevent each sleeve 16 rotating with respectto the axis of the associated stem 14, 15 a pin 115 is clamped on oneside to the sleeve itself and, on the other side, guided axially by therelevant carriage. Slide 21 supports the pin of a small roller 26 whichslides in a slot 27 cut out of a lever arm 28 which pivots around afulcrum 29 in structure 13; the remaining part of the lever arm 28carries a small roller 30 which, by means of a spring 31, placed betweenslide 21 and fixed structure 13 (FIG. 1.), is kept gripping a cam trackin a disc 33.

The rotation of disc 33 in direction V causes the translation of slide21 in directions H1, H2.

The translation of slide 21 in direction H2 causes contact surfaces 20aon the upper parts of housing 20, to come up against small rollers 19;this causes the equiverse translation of the two sleeves 16 (and rods14, 15 which are connected to them) against the elastic reaction ofsprings 17.

The translation of slide 21 in direction H1 causes the equiversetranslation of sleeves 16 (due to the action exerted on them by thepreviously compressed springs 17), until the corresponding bushes 23, 24come hard up against the printed circuit 100: at this point there is agap between contact surfaces 20a and small rollers 19.

On rods 14, 15 are fitted, idle, corresponding runners 34, 35; theserunners support the pins of small rollers 36, one for each runner,sliding within corresponding slots 37 in carriages 34, 35.

The insertion of small rollers 36 in slots 37 prevent the runners 34, 35rotating with respect to the relevant stems and at the same time enablesthe runners themselves to slide axially.

Runners 34, 35 support the pins of small dragging rollers 38, one foreach runner, the axes of which are perpendicular to the axes of thecorresponding rods 14, 15 and the axes of small guide rollers 36 andparallel with the axes of small rollers 19 held fast to theabove-mentioned sleeves 16.

Small dragging rollers 38 slide within two guides 39, one for eachcarriage 4, 5, which are co-axial with each other and parallel with thedirections of translation F1, F2 of the aforesaid carriages 4, 5.

Guides 39 are made from two shaped metal sections 25 which havecorresponding arms 25a which face in the direction of slide 21; thesearms 25a are inserted in the same number of housings 40 in the slideitself, with the possibility of sliding relatively with respect to thelatter (directions H1, H2) through the action of an associated pneumaticjack 41 supported on a cantilever basis by a wall 42 integral with theslide; the travel imposed by jack 41 on shaped metal sections 25 is lessthan the maximum travel allowed for slide 21: the reasons for this willbe explained subsequently.

Obviously translations of slide 21 (which take place for reasons whichwill be explained subsequently, with jack 41 out of action) involveequiverse translations of shaped metal sections 25 and, therefore, alsoof runners 34, 35 since they are dragged by the latter.

Held fast to runners 34, 35 are corresponding moving elements 43, 44;each element is held fast by means of a small pin 45 sliding in twothrough co-axial holes, made in the corresponding runner, and subject tothe action of a spring 46 (see FIG. 3). These holes are perpendicular tocircuit 100 and so elements 43, 44 can translate, with respect to therelevant runners, in directions H1, H2: translation in direction H2 isopposed by spring 46.

Anchored to the above-mentioned elements 43, 44 are correspondingneedles 47, 48 which are inserted in the corresponding bushes 23, 24 ofrods 14, 15; in order to limit bending of the above-mentioned needles inthe sections between the moving elements and the relevant bushes, thereare appendages 49, clamped to the above-mentioned runners 34, 35 theheads of which 49a are positioned in the aforesaid sections: in theseheads 49a are through holes, co-axial with the corresponding bushes 23,24, through which the corresponding needles 47, 48 pass.

The heads of these needles 47, 48 turned towards circuit 100, have blindholes, or niches 47a, 48a in, the function of which will be explainedsubsequently.

Clamped to moving elements 43, 44 are two pins 50, perpendicular to theabove-mentioned directions H1, H2, which support on a cantilever basiscorresponding arms 51 the lower ends of which 51a are associated withtwo sensors 52 clamped to the corresponding runners 34, 35.

In the absence of external causes acting on moving elements 43, 44, end51a is situated at the minimum distance from the operating head 52a ofthe relevant sensor 52; if either moving element slides in direction H2,the corresponding ends 51a move away from the operating head of therelevant sensor 52; in this way, from the electrical signals supplied bythe sensors, it is possible `to extract` information, the importance ofwhich will be pointed out subsequently.

In area A of station S there is a device 150 for centering theabove-mentioned needles 47, 48.

This device consists of a pincer 53, of which the prongs 54 arepositioned so as not to interfere either with `carousel` 1 or the prongs3a, 3b of pincer 3. These prongs 54 are hinged at 58 to the fixedstructure 13 and have arms 91 attached, the upper ends of which arefitted with small rollers 56 (FIG. 3). The above-mentioned arms 91 aresubject to the action of torsional springs 57 which, in the absence ofexternal causes, keep the operating ends 54a of the relevant prongs inthe `open` position.

The `closed` position for the above-mentioned operating ends 54a isbrought about by inserting a wedge 59 between rollers 56, thusovercoming the springs 57.

Wedge 59 is carried by a small mobile frame 55 hinged at 60 to one end61a of a lever arm 61 pivoting around a fulcrum 62 in fixed structure13; the remaining lever arm 61b is made to oscillate by means ofcam-driven mechanisms (not shown).

The movement of small frame 55 in direction N1 causes prongs 54 toclose, whilst its movement in the opposite direction N2, causes theprongs to open; during the movement of small frame 55 in direction N2 itcomes up against an appendage 2a associated with the control mechanisms,(not shown), from the clamping mechanism 2: in particular this causesthe opening of prongs 3a, 3b of pincer 3.

Each operating end 54a of prongs 54 contains, in two staggered planes,teeth 66, 67 as illustrated in FIGS. 5a, 5b: teeth 66a, 67 on theremaining operating end 54a are complementary with respect to teeth 66,67: obviously the bottom of each space in the teeth will never be filledby the corresponding tooth.

The function of these teeth is to define, in the `closed` position ofthe prongs 54, a pair of housings 68 to receive the of needles 47, 48,with each pair of housings presenting the same distance between centresas the chosen pitch between the needles.

The housings 68 of a pair are co-axial with the corresponding leads 10of a corresponding component 11 (presenting the same pitch as thedistance between the centres of the aforesaid housings) positioned instation S by means of pincer 3; the above-mentioned housings 68 are for`centering` needles 47, 48 with respect to the aforesaid leads and atthe same time they must enable these needles to slide through them.

The fact of providing two sets of teeth in two different staggeredplanes P1, P2 for each prong 54a, makes it possible to have teeth, andrelevant spaces, of greater depth than can be obtained with a single setof teeth (obviously for the same pitch p); this is extremelyadvantageous in that it increases the `useful centering space` in whichthe aforesaid prongs 54a operate.

In the above-mentioned area A of the station S there is a device 200 fortaking components 11, lying in S, and moving them towards printedcircuit 100.

Device 200 consists of a pincer 69 the jaws of which 69a, 69b, in theinoperative configuration of the device, are positioned above the body11a of the component 11 (see FIGS. 1, 2).

Jaws 69a, 69b are carried by the mobile sides 70a, 71a of twoarticulated parallelograms 70, 71; the small connecting rods 70b, 71b ofthese parallelograms are hinged, respectively by means of pins 70c, 71c,to a runner 72 slideable in directions H1, H2, guided by small wheels 73supported for rotation by a small fixed frame 74.

Keyed onto two pins 70c, 71c, one per parallelogram, are two toothedwheels 75 in mesh; also keyed onto pin 70c is a small lever 76 to whichis hooked the end of a spring 77 the remaining end of which is undertension even with the jack 78 out of action.

Sliding on runner 72 is a slide 79 having at its lower end a catchprojection 80; runner 72 and slide 79 are operated by correspondingmechanical mechanisms, (not shown), acting in phase with each other aswell as with the operation of the `needle centering` device 150 and withthe bringing into action, and putting out of action, of jack 78; alsothe operation of runner 72 is in phase with the operation of slide 21.

The relative sliding of slide 79 with respect to runner 72 (in directionH2), causes catch projection 80 to come up against small lever 76 whichrotates in direction Z1: this causes jaws 69a, 69b to open; the relativesliding of the slide, with respect to runner 72, in the oppositedirection H1, allows the above-mentioned jaws to close through theaction of spring 77 on a small lever 78 which rotates in the oppositedirection 22.

Device 200 also contains a pressure device 81 perpendicular to printedcircuit 100 and positioned between jaws 69a, 69b; pressure device 81 isintegral with the stem of a pneumatic jack 82 of the single-action type.

At rest slide 21 is in the lowest position it can be in; in thisposition contact surfaces 20a of housings 20 are up against smallrollers 19 of sleeves 16 which, by the action of the associated springs,are maintained in their lowermost position.

Once again at rest, runner 72 is in its uppermost position; jacks 78 and82 are out of action, as is jack 41.

At rest the distance between the upper heads of bushes 23, 24 and theunderside of circuit 100 is less than the maximum travel of which therods 14, 15 are capable; with the bushes in this position, the travelimposed on needle 47, 48 by the relevant runners 34, 35 as a result ofbringing jack 41 into action, is sufficient to enable the needles topass through and beyond the circuit (obviously in those places wherethere are holes, co-axial with the needles, provided in the circuit).

To has been used to show the beginning of an elementary cycle within thepresent piece of apparatus `carousel` 1 is rotating to bring a component11, the leads 10 of which are clamped between prongs 3a, 3b of pincer 3,into station S.

It has been assumed that at instant To printed circuit 100 has alreadybeen moved and/or rotated (by means of corresponding mechanism, notshown), controlled by of a microprocessor unit, not shown so as toposition the two chosen through holes 100a (that is to say the holescapable of taking the leads 10 of the component 11 positioned in S)co-axially with respect to the pre-arranged position which leads 10 willtake up in S.

The microprocessor sends an instruction to motor 12 to set carriages 4,5 in motion until the distance between the axes of bushes 23, 24 is thesame as the pitch p between the selected holes 100a; it has been assumedthat at instant T1 the aforesaid situation has been satisfactorilyaccomplished. At instant T2 (next one, at the limit coinciding with T1)jack 41 is brought into action; this causes the movement of runners 34,35 in direction H1 for a distance less than the maximum travel of slide21; if the operation is successful and needles 47, 48 are in factinserted in holes 100a (see FIG. 6a), there is no relative slidingbetween moving elements 43, 44 and the relevant runner; the distancebetween end 51a and the operating head of sensor 52 remains unchanged;electrical signals are sent by these sensors to this effect (see FIG. 6aonce more).

If on the other hand the operation is not successful and at least one ofneedles 47, 48 is obstructed by circuit 100 (as illustrated in FIG. 6b)the moving element 43, 44, associated with the particular needle, doesin fact slide with respect to the relevant runner; this fact issignalled by the corresponding sensor 52, since end 51a of arm 51 movesaway from operating head 52a of the sensor (see FIG. 6b once more).

If the operation is unsuccessful, the microprocessor prevents all thesubsequent stages; if on the other hand the operation is successful, theapparatus operates as described below.

Jack 41 is activated and de-activated; the so-called `touching` stage(that is to say checking for the presence of the chosen holes) comes toan end at instant T3: at this point shaped metal profiles 25, and withthem runners 34, 35, are returned to the rest position.

When the operation has been successful, that is to say when both holes100a are positioned co-axially with respect to bushes 23, 24 at instantT4, immediately following (or coinciding) with T3, it has been assumedthat pincer 3 is in S; at instant T4 slide 21 begins its movement indirection H1, runner 72 begins its travel in direction H2 with slide 79in the very lowest position with respect to the relevant runner 72,therefore with jaws 69a, 69b open.

The descent of runner 72 causes pressure device 81 to come up againstbody 11b; since jack 82 is out of action, the piston of this jack slideswithin the relevant cylinder without encountering any appreciablefriction; in other words the fact of the two mentioned parts coming intocontact causes virtually no resistance to the descent of runner 72.

At instant T5 bushes 23, 24 come up against circuit 100 (FIG. 7); thiscauses small rollers 19 to be detached from surfaces 20a: bushes 23, 24are held under pressure against circuit 100 by the elastic reaction ofthe associated springs 17.

Movement of needles 47, 48, coincides with the movement of slide 21,until they come up against a fixed catch projection; at instant T6needles 47, 48 have already passed through and beyond circuit 100 andare in the area in which the operating heads of prongs 54 of centeringpincer 53 operate: between T6 and T7 there is a period during whichslide 21 is stationary, during which time teeth 66, 67, 66a, 67a movetowards each other in order to define centering housings 68, forcentering needles 47, 48 with respect to the overhanging leads 10, (seeFIG. 7b).

Meanwhile, in the interval T4-T7, runner 72 will have stopped (forexample at instant T5) to allow jaws 69a, 69b to close around the body11b of component 11 (this is brought about by the return of slide 79,relative to runner 72, to its very highest position; at a pointimmediately after jaws 69a, 69b close (for example at instant T6) jack78 is brought into action which, in conjunction with the associatedspring 77, enables the aforesaid jaws to grip the above-mentioned body11b with a pre-arranged pressure: under the conditions just recalled,jack 82 is still out of action.

At instant T7 slide 21 starts to move up again; in this way the upperends of the needles make contact with the lower end 10a of leads 10, orto be more precise the above-mentioned ends 10a enter into niches 47a,48a of needles 47, 48 (see FIG. 7c); the movement of the slide,subsequent to the aforesaid entry (instant T8), involves relativesliding movements of elements 43, 44 with respect to the relevantrunners 34, 35: this is `signalled` by sensors 52, and at the same timeslide 21 comes to a halt (instant T9).

In the interval T9-T10 slide 21 and runner 72 are assumed to bestationary; in the aforesaid interval prongs 3a, 3b of pincer 3 open asdo the prongs 54 of centering pincer 53.

At instant T10 slide 21 begins its descent in direction H2 whilst at thesame time runner 72 describes an equiverse translation.

At instant T11 the ends 10a of leads 10 are already inserted in therelevant holes 100a and in the corresponding bushes 23, 24 (see FIG.7d); at the aforesaid instant runner 72 has reached its lowest position,whilst slide 21 is stationary.

At this point the microprocessor, by analysing the signals supplied bysensors 52, is in a position to check whether or not leads 10 have beeninserted in holes 100a; if the operation has been successful, and theleads have in fact been inserted in the holes, end 51a of arm 51 will beat its furthest position from operating end 52a of the relevant sensor(since the contact between needle and lead is subject to the springs 46of the relevant moving element being put under compression).

If the operation is unsuccessful, and the leads have not been insertedin the holes, the corresponding moving element 43, 44 would, due to theaction of the associated spring 46, be in the very highest position withrespect to the relevant runner 34, 35: this is signalled by thecorresponding sensor 52.

The subsequent stages presuppose that the operation has been successful,in other words that both leads 10 are inserted in holes 100a.

In the interval T11-T12 slide 21 moves down (by a small amount) indirection H2 (and with it elements 43, 44 and relevant needles 47, 48),whilst runner 72 remains stationary.

At instant T12 ends 47a, 48a of the needles are separated from ends 10aof leads 10 (see FIG. 7e).

In interval T12-T13 with slide 21, for example, carriages 4, 5 are madeto move in opposite directions: this causes sections 10c of the leadsprotruding from printed circuit 100 to be sent against the underside ofthe printed circuit (see FIG. 7f).

At instant T13 jack 82 of pressure device 81 is brought into action andjack 78 connected to spring 77 acting, via lever 76, on jaws 79a, 79b isput out of action; at instant T14 the aforesaid operations are assumedto have been completed.

At instant T14 slide 21 is still moving in direction H2 to complete itsdescent (which is assumed to be completed at instant T15), whilst runner72 is beginning its ascent (in direction H1): as runner 72 re-ascends,jaws 69a, 69b--under the action of spring 77--hug the body 11b of thecomponent 11: this is extremely advantageous in that it avoids the jawsinvading the spaces surrounding the above-mentioned body, where othercomponents 11 may already have been positioned.

During the re-ascent of the jaws, the action exerted by pressure device81 in the opposite direction on the body 11b (see FIG. 7g) prevents eventhe slightest lifting of the body itself or circuit 100 to which it isclamped.

The flexibility of the material from which jaws 69a, 69b are madeenables them to `give` as they hug body 11b without giving rise tosufficient stresses to cause the component and/or the jaws themselves tobe broken and/or torn and/or scraped. It should also be pointed out thatthe elasticity of the aforesaid jaws is particularly advantageous asregards their `grip` on body 11b.

For example the jaws may have the ability to `adapt` first to aparallelepipedal-shaped body 11b and then to cylindrical one; acylindrical-shaped body 11b may have dimensions such as to involve thelower ends of the jaws coming into contact with each other; finally thejaws may grip both the body 11b and leads 10 thereof.

At instant T16 it has been assumed that the ascent of runner 72 has beencompleted; obviously as soon as jaws 69a, 69b are for sure external tobody 11b, pressure device 81 is also dragged upwards by runner 72.

At instant T16 the operating cycle of the apparatus has been completed.If one of the leads 10 had failed to be inserted in relative hole 100a(instant T11), the microprocessor would not have allowed the stages justdescribed and subsequent to the aforesaid T11 to take place.

In a case such as this, runner 72 is made to go back up with the body11b clamped between jaws 69a and 69b.

The apparatus has pockets 110 set between the clamping mechanism 2 whichmove in step with this mechanism for collecting `rejected` components;when a pocket 110 passes into S (see FIG. 4) jaws 69a, 69b are opened bycatch projection 80; the `rejected` component then falls into theabove-mentioned pocket.

The apparatus described is universal, that is to say it is capable ofinserting leads 10 in holes 100a regardless of the pitch p between thelead; this is made possible firstly by carriages 4, 5 which enable thesame distance to be obtained between the centres of bushes 23, 24 as theabove-mentioned pitch, and secondly by prongs 54 of centering device 150which enable the needles to be `centred` to correspond with a number ofpitches p.

When the leads have been duly inserted, the apparatus enables them to beclamped to printed circuit 100; this is achieved by means of theabove-mentioned bushes which, as already mentioned, bend the protrudingsections of lead 10c against circuit 100.

Moreover this apparatus is so constructed that it will not insert theleads in holes 100a if the latter are not co-axial with respect to thebushes, or if the needles do not link up with the leads; furthermore theapparatus will not clamp the leads to the printed circuit if they areonly partially inserted in it or if they are not inserted absolutelycorrectly; the functions just mentioned are carried out by the movingelements 43, 44 (and associated needles) and sensors 52 as a result ofthe mutual sliding movements between moving elements and relevantsensors.

The apparatus described above is designed and constructed so as not tointerfere with components 11 already fitted to the printed circuit; infact jaws 69a, 69b are released from the body of the component in such away that they hug the body itself, under light pressure, without thisaltering the positioning and/or balance of printed circuit 100 as aresult of the counterbalancing action of pressure device 81 on theabove-mentioned body.

In conclusion the apparatus is capable, by means of needles 47, 48, ofnoting the unfolding of the elementary cycle of the insertion of theleads in holes 100a and of stopping this cycle for any of the abovelisted reasons. It should be pointed out that providing niches 47a, 48ain the heads of the needles has a beneficial effect when it comes toconnecting them up with the ends of the leads 10a, and it provesparticularly advantageous in cases where the above-mentioned ends 10ahave a pyramid-shaped profile as shown in the attached illustrations.

The mechanisms for operating the apparatus are either operated by camsor by mechanisms with `all` or `nothing` type control (e.g: jacks): thissimplifies interfacing the apparatus with a microprocessor.

I claim:
 1. An apparatus for inserting the leads of an electrical orelectronic component having parallel leads into holes in a substratecomprising:means for horizontally supporting the substrate at anoperation location; first and second carriages; means for horizontallydisplacing said carriages towards and away from each other below thesubstrate, each of said carriages including:a bushing means fordisplacing said bushing upwardly into engagement with the substrate; aneedle, said bushing including means for supporting said needle forvertical sliding movement relative thereto; means for displacing saidneedle relative to said bushing from a lowered position below the topsurface of said bushing to an elevated position a distance selected sothat said needle will extend above the substrate when the bushing isengaging the substrate; said bushing including an opening at the topthereof selectively configured so that the displacement of said carriagein a selected direction will result in the lead received by said openingand having a predetermined length will be bent up against the substrate.2. An apparatus according to claim 1, further comprising means fordetecting the location of said needles relative to said bushings.
 3. Anapparatus according to claim 2, further comprising means for biasingsaid bushing toward said engaging position.
 4. An apparatus according toclaim 3, further comprising means for maintaining a single orientationfor said bushing as it is displaced towards said engaging position.